<?xml version="1.0" ?>
<Manifest 
    xmlns="http://schemas.microsoft.com/xw/2004/10/manifest.html"
    xmlns:dssp="http://schemas.microsoft.com/xw/2004/10/dssp.html"
    xmlns:arcosdrive="http://schemas.microsoft.com/robotics/2006/06/arcosdrive.html" 
    xmlns:arcosbumper="http://schemas.microsoft.com/robotics/2006/06/arcosbumper.html" 
    xmlns:this="urn:uuid:8312abfc-c10e-4274-94fd-b0fde9c8cd84" 
    xmlns:arcoscore="http://schemas.microsoft.com/xw/2005/12/arcoscore.html"
    xmlns:main="http://erobots.jcepeda/2010/07/pioneercontrol.html"
    >
    <CreateServiceList>
      <!--MAIN-->
      <ServiceRecordType>
        <dssp:Contract>http://erobots.jcepeda/2010/07/pioneercontrol.html</dssp:Contract>
        <dssp:Service>http://localhost/pioneercontrol</dssp:Service>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Contract>http://schemas.microsoft.com/2006/06/contactsensor.html</dssp:Contract>
            <dssp:PartnerList />
            <dssp:Name>main:Bumper</dssp:Name>
            <dssp:ServiceName>this:arcosbumper</dssp:ServiceName>
          </dssp:Partner>
          <dssp:Partner>
            <dssp:Contract>http://schemas.microsoft.com/robotics/2006/05/drive.html</dssp:Contract>
            <dssp:PartnerList />
            <dssp:Name>main:Drive</dssp:Name>
            <dssp:ServiceName>this:arcosdrive</dssp:ServiceName>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:main</Name>
      </ServiceRecordType>

      <!--<<< BUMPER >>>-->
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/2006/06/arcosbumper.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Contract>http://schemas.microsoft.com/xw/2005/12/arcoscore.html</dssp:Contract>
            <dssp:PartnerList />
            <dssp:Name>arcosbumper:Arcos</dssp:Name>
            <dssp:ServiceName>this:ArcosCore</dssp:ServiceName>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:arcosbumper</Name>
      </ServiceRecordType>

      <!--<<< DRIVE >>>-->
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/2006/06/arcosdrive.html</dssp:Contract>
        <dssp:PartnerList>
          <dssp:Partner>
            <dssp:Contract>http://schemas.microsoft.com/xw/2005/12/arcoscore.html</dssp:Contract>
            <dssp:PartnerList />
            <dssp:Name>arcosdrive:Arcos</dssp:Name>
            <dssp:ServiceName>this:ArcosCore</dssp:ServiceName>
          </dssp:Partner>
        </dssp:PartnerList>
        <Name>this:arcosdrive</Name>
      </ServiceRecordType>

      <!--<<< CORE >>>-->
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/xw/2005/12/arcoscore.html</dssp:Contract>
        <Name>this:ArcosCore</Name>
      </ServiceRecordType>

      <!--<<< SIMPLE DASHBOARD >>>-->
      <ServiceRecordType>
        <dssp:Contract>http://schemas.microsoft.com/robotics/2006/01/simpledashboard.html</dssp:Contract>
        <dssp:Service>http://localhost/dashboard</dssp:Service>
      </ServiceRecordType>




    </CreateServiceList>
</Manifest>
